/*
 * @Author: huangyupei huangyupei2021@ia.ac.cn
 * @Date: 2024-09-20 11:01:57
 * @LastEditors: huangyupei huangyupei2021@ia.ac.cn
 * @LastEditTime: 2024-11-22 10:00:08
 * @FilePath: /SelfCalib_OptiAcoustic/include/readImageFeatures.h
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
#ifndef READIMAGEFEATURES_H
#define READIMAGEFEATURES_H

#include <iostream>
#include <fstream>
#include <vector>
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Geometry>
#include <opencv2/opencv.hpp>
#include <random>

using namespace std;
using namespace Eigen;

int readCameraFeaturesFromTXT(const string filename, vector<cv::KeyPoint>& keypoints);

int readSonarFeaturesFromTXT(const string filename, vector<Eigen::Vector2d>& vSonarMeas);

std::vector<Eigen::Vector2d> getSonarMeasXY(const string sonar_filename);

#endif